Abstract
The solution of the inverse kinematics of mobile manipulators is a fundamental capability to solve problems such as path planning, visual-guided motion, object grasping, and so on. In this article, we present a metaheuristic approach to solve the inverse kinematic problem of mobile manipulators. In this approach, we represent the robot kinematics using the Denavit–Hartenberg model. The algorithm is able to solve the inverse kinematic problem taking into account the mobile platform. The proposed approach is able to avoid singularities configurations, since it does not require the inversion of a Jacobian matrix. Those are two of the main drawbacks to solve inverse kinematics through traditional approaches. Applicability of the proposed approach is illustrated using simulation results as well as experimental ones using an omnidirectional mobile manipulator.
Highlights
Mobile manipulator is composed of one or more arm manipulators attached to a mobile platform
To generate the translation position pk in the desired trajectory, we propose to generate a trajectory based on the equations px 1⁄4 1 py 1⁄4 1⁄2À1; 1 pz 1⁄4 C þ A sinðB pyÞ; where the values A 1⁄4 0:05, B 1⁄4 10, and C 1⁄4 0:3 were selected for the 7- and 9-DOF omnidirectional mobile where Ra corresponds to the desired orientation for the 7, 8, and 10-DOF omnidirectional mobile manipulator and Rb corresponds to the 9-DOF mobile manipulator
We introduced an approach for solving the inverse kinematics of mobile manipulators based on metaheuristic algorithms
Summary
Mobile manipulator is composed of one or more arm manipulators attached to a mobile platform. We propose the use of metaheuristic algorithms to solve the inverse kinematics of mobile manipulators as a constrained optimization problem. We propose the use of metaheuristic algorithms in order to solve the inverse kinematics of mobile manipulators as a constrained optimization problem.
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